# US 9,883,080 B2 · Vehicle vision system with color correction > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,883,080 B2 - Document ID: US9883080B2 - Status: Granted - Kind: B2 - Application number: 15/463,297 - Filed: 2017-03-20 - Published: 2017-07-06 - Granted: 2018-01-30 - Earliest claimed: 2011-11-07 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Thomas Wierich - Web page: https://patentgrep.com/patent/US9883080B2 ## CPC - H04N 1/6027: {Correction or control of colour gradation or colour contrast (H04N1/6058 takes precedence)} - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - G06T 7/90: Determination of colour characteristics - H04N 23/12: with one sensor only - H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture - H04N 23/88: for colour balance, e.g. white-balance circuits or colour temperature control - B60R 2300/30: characterised by the type of image processing - B60R 2300/802: for monitoring and displaying vehicle exterior blind spot views - G06T 2207/10024: Color image - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A method for processing color image data captured by a vehicular camera includes providing a color camera having an imaging array having a plurality of photosensors, and disposing one or more spectral filters at or in front of photosensors of the plurality of photosensors of the imaging array. The color camera is disposed at a vehicle so as to have a field of view exterior of the vehicle. The color camera captures image data that is provided to an image processor, which processes the image data captured by the color camera. The processing of image data includes processing via an algorithmic loop that corrects color variation due to lighting conditions so that images derived from captured image data are color corrected. The algorithmic loop includes processing image data in a color correction loop for color correction. ## Claims ### Claim 1 A method for processing color image data captured by a vehicular camera disposed at a vehicle to correct for color error, said method comprising: providing a color camera comprising an imaging array having a plurality of photosensors; disposing one or more spectral filters at or in front of photosensors of the plurality of photosensors of the imaging array; disposing the color camera at a vehicle so as to have a field of view exterior of the vehicle; providing an image processor; capturing image data with the color camera; providing captured image data to the image processor; processing image data captured by the color camera via the image processor; wherein said processing of image data comprises processing via an algorithmic loop that corrects color variation due to lighting conditions so that images derived from captured image data are color corrected; and wherein the algorithmic loop comprises processing image data in a color correction loop for color correction. ### Claim 2 (depends on 1) The method of claim 1, wherein said processing of image data utilizes pre-determining illumination scenarios. ### Claim 3 (depends on 2) The method of claim 2, wherein said processing of image data comprises pre-determining illumination scenarios, such that, when a particular illumination scenario is determined, the system can utilize a predetermined polynomial equation to calculate data points along an x-y color curve based on the determined particular illumination scenario. ### Claim 4 (depends on 1) The method of claim 1, wherein disposing the color camera comprises disposing the color camera at a rear of the vehicle so as to have a field of view rearward of the vehicle. ### Claim 5 (depends on 4) The method of claim 4, comprising providing an illumination source at the rear of the vehicle. ### Claim 6 (depends on 5) The method of claim 5, wherein said processing of image data comprises processing for color correction to account for a color of light emitted by the illumination source. ### Claim 7 (depends on 1) The method of claim 1, wherein the hysteresis loop corrects color variation due to lighting conditions so that white colors are properly determined to be along a Planckian Locus. ### Claim 8 (depends on 1) The method of claim 1, wherein said processing of image data comprises utilization of a color correction algorithm that includes a color correction matrix algorithm. ### Claim 9 (depends on 8) The method of claim 8, wherein the color correction algorithm comprises the color correction matrix algorithm and a histogram algorithm to determine a color correction for the captured image data. ### Claim 10 (depends on 8) The method of claim 8, wherein said processing of image data comprises receiving an output from a histogram algorithm and, after processing the output, generating an output that is used as an input to the color correction matrix algorithm. ### Claim 11 (depends on 10) The method of claim 10, wherein an output of the color correction matrix algorithm is used as an input to the histogram algorithm. ### Claim 12 (depends on 11) The method of claim 11, comprising repeating the color correction matrix algorithm and the histogram algorithm until a desired level of color correction is determined. ### Claim 13 (depends on 12) The method of claim 12, wherein the color correction matrix algorithm and the histogram algorithm repeatedly operate to migrate a plurality of data points representative of white points through a color room towards a center line of white points along a Planckian locus. ### Claim 14 (depends on 13) The method of claim 13, wherein the histogram algorithm does not use the data points when an RGB component of the data points exceeds a threshold fraction of full scale. ### Claim 15 (depends on 14) The method of claim 14, wherein the threshold fraction of full scale of the RGB component is ninety percent. ### Claim 16 (depends on 1) The method of claim 1, wherein the image processor includes polynomial equations representative of light plots in white illuminated illumination scenarios, and wherein the image processor, responsive to a determination that captured image data is representative of a typical illumination scenario, uses a corresponding polynomial equation to determine a desired point along a polynomial equation without having to interpolate between data points. ### Claim 17 A method for processing color image data captured by a vehicular camera disposed at a vehicle to correct for color error, said method comprising: providing a color camera comprising an imaging array having a plurality of photosensors; disposing one or more spectral filters at or in front of photosensors of the plurality of photosensors of the imaging array; disposing the color camera at a rear of a vehicle so as to have a field of view rearward of the vehicle; providing an illumination source at the rear of the vehicle; providing an image processor; capturing image data with the color camera; providing captured image data to the image processor; processing image data captured by the color camera via the image processor; wherein said processing of image data comprises processing that corrects color variation due to lighting conditions so that images derived from captured image data are color corrected; and wherein said processing of image data comprises processing for color correction to account for a color of light emitted by the illumination source. ### Claim 18 (depends on 17) The method of claim 17, wherein said processing of image data comprises utilization of a color correction algorithm that includes a color correction matrix algorithm, and wherein the color correction algorithm comprises the color correction matrix algorithm and a histogram algorithm to determine a color correction for the captured image data. ### Claim 19 (depends on 17) The method of claim 17, wherein the image processor, responsive to a determination that captured image data is representative of a typical illumination scenario, uses a corresponding polynomial equation to determine a desired point along a polynomial equation without having to interpolate between data points. ### Claim 20 A method for processing color image data captured by a vehicular camera disposed at a vehicle to correct for color error, said method comprising: providing a color camera comprising an imaging array having a plurality of photosensors; disposing one or more spectral filters at or in front of photosensors of the plurality of photosensors of the imaging array; disposing the color camera at a rear of a vehicle so as to have a field of view rearward of the vehicle; providing an illumination source at the rear of the vehicle; providing an image processor; capturing image data with the color camera; providing captured image data to the image processor; processing image data captured by the color camera via the image processor; wherein said processing of image data comprises processing via an algorithmic loop that corrects color variation due to lighting conditions so that images derived from captured image data are color corrected; wherein the algorithmic loop comprises processing image data in a color correction loop for color correction; wherein said processing of image data comprises pre-determining illumination scenarios, such that, when a particular illumination scenario is determined, the system can calculate data points along an x-y color curve based on the determined particular illumination scenario; and wherein said processing of image data comprises processing for color correction to account for a color of light emitted by the illumination source. ### Claim 21 (depends on 20) The method of claim 20, wherein, when a particular illumination scenario is determined, the system utilizes a predetermined polynomial equation to calculate data points along an x-y color curve based on the determined particular illumination scenario.